Sutter Instrument TRIO MP-245A Operation Manual

TRIO™ MP-245A

Three-Axis Motorized

Micromanipulator System

Operation Manual

With Synthetic Fourth “D” Axis and

USB Interface for External Control

Rev. 3.12b (20191001)

One Digital Drive

Voice: 415-883-0128 Web: www.sutter.com
Fax: [phone] Email: [e-mail]

Novato, CA 94949

2

(The picture on the cover page shows a TRIO MP-245A ROE/controller and a TRIO MP-245/M

micromanipulator. The Sutter Instrument IPA Headstage shown mounted on the micromanipulator is not

included in the TRIO MP-245A Series system.)

Copyright © 2019 Sutter Instrument Company. All Rights Reserved.

TRIO™ is a trademark of Sutter Instrument Company.

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DISCLAIMER

The TRIO MP-245A consists of one electromechanical micromanipulator device and one ROE
(Rotary Optical Encoder) with integrated controller. The purpose of the system is for the
manipulation at the micro level of micropipettes and probes used in conjunction with a
microscope. No other use is recommended.

This instrument is designed for use in a laboratory environment. It is not intended nor
should it be used in human experimentation or applied to humans in any way. This is not a
medical device.

Unless otherwise indicated in this manual or by Sutter Instrument Technical Support for
reconfiguration, do not open or attempt to repair the instrument.

Do not allow an unauthorized and/or untrained operative to use this device.

Any misuse will be the sole responsibility of the user/owner and Sutter Instrument Company
assumes no implied or inferred liability for direct or consequential damages from this
instrument if it is operated or used in any way other than for which it is designed.

SAFETY WARNINGS AND PRECAUTIONS

Electrical

 Operate the TRIO MP-245A using 110 – 240 VAC., 50-60 Hz line voltage. This instrument

is designed for use in a laboratory environment that has low electrical noise and
mechanical vibration. Surge suppression is always recommended

 NOTE: There are no user-replaceable fuses in the TRIO MP-245A system.

 The TRIO MP-245A system’s power supply consists of an external AC to DC

switching power adapter. If the external power adapter is damaged due to a mains over or
under voltage, it must be replaced.

 GROUNDING/EARTHING: Proper grounding protects the ROE/controller

electronics, reduces/eliminates electromagnetic interference, and improves the safety of the
system operator. The ROE/controller provides a socket (labeled GROUND) that accepts a
banana plug attached to a suitably gauged insulated wire, the other end of which (alligator
clip) connects to a solid, proper ground.

Avoiding Electrical Shock and Fire-related Injury

 Always use the grounded power cord provided to connect the system’s power adapter to a

grounded/earthed mains outlet (3-prong). This is required to protect you from injury in the
event that an electrical hazard occurs.

 Do not disassemble the system. Refer servicing to qualified personnel.

 To prevent fire or shock hazard do not expose the unit to rain or moisture.

Electromagnetic Interference

To comply with FDA and CE/EU electromagnetic immunity and interference standards; and
to reduce the electromagnetic coupling between this and other equipment in your lab always
use the type and length of interconnect cables provided for interconnecting the electro­mechanical devices and ROE/controller (refer to Technical Specifications for more details).

Operational

Failure to comply with any of the following precautions may damage this device.

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 This instrument is designed for operation in a laboratory environment (Pollution Degree I)

that is free from mechanical vibrations, electrical noise and transients.

 DO NOT CONNECT OR DISCONNECT THE CABLES BETWEEN THE

CONTROLLER AND THE MECHANICAL UNITS WHILE POWER IS ON.
Please allow at least 20 seconds after turning the unit off before disconnecting the
mechanical units. Failure to do so may result in damage to the electronics.

 Operate this instrument only according to the instructions included in this manual.
 Do not operate if there is any obvious damage to any part of the instrument.

 Do not operate this instrument near flammable materials. The use of any hazardous

materials with this instrument is not recommended and, if undertaken, is done so at the
users’ own risk.

 Do not operate if there is any obvious damage to any part of the instrument. Do not

attempt to operate the instrument with the TRIO MP-245/M electromechanical
manipulator shipping tape in place or severe motor damage may result. When transporting
the mechanical manipulator, be sure to reinstall the shipping tape (using masking tape or
equivalent only) to the original locations. Failure to do this may result in damage to the
motors.

 Never touch any part of the micromanipulator electromechanical device while it is in

operation and moving. Doing so can result in physical injury (e.g., fingers can be caught
and pinched between the moving parts of the micromanipulator).

 If the TRIO MP-245A system is used in a microinjection environment, please observe

the following. As with most micromanipulation devices, sharp micropipettes can fly out of
their holder unexpectedly. Always take precautions to prevent this from happening. Never
loosen the micropipette holder chuck when the tubing is pressurized, and never point
micropipette holders at yourself or others. Always wear safety glasses when using sharp
glass micropipettes with pressure tubing.

 Take care to ensure no cables pass close to the TRIO MP-245/M electromechanical

micromanipulator within the spherical movement limits of all its axes combined.

Other

 Retain the original packaging for future transport of the instrument.
 Sutter Instrument reserves the right to change specifications without prior notice.
 Use of this instrument is for research purposes only.

Handling Micropipettes

Failure to comply with any of the following precautions may result in injury to the users

of this device as well as those working in the general area near the device.

 The micropipettes used with this instrument are very sharp and relatively fragile. Avoid

contact with micropipette tips to prevent accidentally impaling oneself.

 Always dispose of micropipettes by placing them into a well-marked, spill-proof “sharps”

container.

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TABLE OF CONTENTS

DISCLAIMER ....................................................................................................................................... 3

SAFETY WARNINGS AND PRECAUTIONS .................................................................................... 3

Electrical .................................................................................................................................................. 3

Avoiding Electrical Shock and Fire-related Injury .............................................................................. 3

Electromagnetic Interference ............................................................................................................ 3

Operational .............................................................................................................................................. 3

Other......................................................................................................................................................... 4

Handling Micropipettes .......................................................................................................................... 4

1. INTRODUCTION ............................................................................................................................. 9

1.1 Structure of the TRIO MP-245A Documentation Package ......................................................... 9

1.2 Components of the TRIO MP-245A System .................................................................................. 9

1.3 Overview .......................................................................................................................................... 10

1.3.1 Features ..................................................................................................................................... 10

1.3.2 Description ................................................................................................................................ 10

2. INSTALLATION ............................................................................................................................ 13

2.1 Mounting Instructions ................................................................................................................... 13

2.1.1 Mounting the TRIO MP-245/M to the Stand or Platform .................................................. 13

2.2 Headstage Mounting ...................................................................................................................... 14

2.3 Other Accessories ............................................................................................................................ 14

2.4 Electrical Connections and Initial Operating Instructions ........................................................ 14

2.5 ROE/Controller Rear Panel Controls and Configuration........................................................... 15

2.5.1 Power Switch ............................................................................................................................ 15

2.5.2 Rear-Panel Configuration Switches ....................................................................................... 16

2.5.2.1 Rear-Panel Switches 1, 2, 3 and 4: Knob Rotation Directionality for Forward (+)

Movement ....................................................................................................................................... 16

2.5.2.2 Rear-Panel Switch 5: Y-Axis Lockout during Homing .................................................. 16

2.5.2.3 Rear-Panel Switch 6: Calibration Homing on Power On ............................................. 16

2.5.1 Internal Configuration Switches ............................................................................................ 17

2.5.1.1 Internal Switch 1 Reserved .............................................................................................. 17

2.5.1.2 Internal Switch 2: Electromechanical Device Compatibility. ....................................... 17

2.5.1.3 Internal Switch 3 Reserved .............................................................................................. 17

2.5.1.4 Internal Switch 4 Linear/Nonlinear Manual Operation ............................................... 17

3. OPERATIONS ................................................................................................................................ 19

3.1 Main Controls and Indicators on the ROE/Controller ............................................................... 19

3.2 Display .............................................................................................................................................. 19

3.2.1 Initial Startup ........................................................................................................................... 19

3.3 Control Operations ......................................................................................................................... 20

3.3.1 Maximum Positive Position Values: ...................................................................................... 20

3.3.2 Setting Position for HOME or WORK ................................................................................... 20

3.3.3 Setting the Angle of the Pipette/Headstage Holder ............................................................. 20

3.3.4 Operating the Virtual D Axis .................................................................................................. 20

3.3.5 Moving to the Home Position ................................................................................................. 21

3.3.6 Moving to the Work Position .................................................................................................. 21

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3.3.7 Setting Absolute/Relative Coordinates Mode ........................................................................ 22

3.3.8 Mode Indications ...................................................................................................................... 22

3.3.9 Speed Control and ROE Knob Movements (SPEED) .......................................................... 23

3.3.10 Movement Knobs Disabling and Lock Mode ([SPEED]/LOCK) ...................................... 23

3.3.11 Pausing Home Movements (HOME (while moving to Home)) ........................................ 23

3.3.12 Pausing Work Movements (WORK (while moving to Work)) .......................................... 23

3.3.13 Pulse Mode and Virtual D-Axis Movement (PULSE) ........................................................ 23

3.4 Micropipette/Headstage Exchange ............................................................................................... 23

4. EXTERNAL CONTROL ................................................................................................................ 25

4.1 General ............................................................................................................................................. 25

4.2 Virtual COM Port (VCP) Serial Port Settings ............................................................................. 25

4.3 Protocol and Handshaking ............................................................................................................ 25

4.4 Command Sequence Formatting .................................................................................................. 26

4.5 Axis Position Command Parameters ............................................................................................ 26

4.6 Microsteps and Microns (Micrometers) ........................................................................................ 27

4.7 Commands ....................................................................................................................................... 27

4.7.1 Get Current Position and Angle (‘c’ or ‘C’) Command ........................................................ 27

4.7.2 Move to Controller-Defined HOME Position (‘h’) Command ............................................. 28

4.7.3 Move to Controller-Defined WORK Position (‘w’) Command ............................................ 28

4.7.4 Move to Specified “Home” Position (‘H’) Command ........................................................... 28

4.7.5 Move to Specified “Work” Position (‘W’) Command............................................................ 29

4.7.6 Move in Straight Line to Specified Position at Specified Speed (‘S’) Command .............. 29

4.7.7 Interrupt Straight-Line Move (‘^C’) Command ................................................................. 30

4.7.8 Move to Specified X-Axis Position (‘x’ or ‘X’) Command ..................................................... 30

4.7.9 Move to Specified Y-Axis Position (‘y’ or ‘Y’) Command ..................................................... 31

4.7.10 Move to Specified Z-Axis Position (‘z’ or ‘Z’) Command ................................................... 31

4.7.11 Setting the Angle (‘A’) Command ........................................................................................ 31

4.7.12 Recalibrate (‘R’) Command ................................................................................................... 32

4.7.13 Notes ........................................................................................................................................ 32

5. MAINTENANCE ............................................................................................................................ 35

6. RECONFIGURATION ................................................................................................................... 35

6.1 Changing the Rotary Knob Functions on the ROE/Controller ................................................. 35

APPENDIX A. LIMITED WARRANTY ............................................................................................ 37

APPENDIX B. ACCESSORIES ......................................................................................................... 38

APPENDIX C. TECHNICAL SPECIFICATIONS ........................................................................... 39

APPENDIX D. QUICK REFERENCE .............................................................................................. 41

D.1. Manual Operation ......................................................................................................................... 41

D.2. Configuration................................................................................................................................. 41

Rear-Panel DIP Switches ............................................................................................................... 41

Internal DIP Switches .................................................................................................................... 41

D.3. External Control ........................................................................................................................... 42

INDEX ................................................................................................................................................. 47

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TABLE OF FIGURES

Figure 1-1. The TRIO MP-245A system .................................................................................................. 9

Figure 2-1. Side view of TRIO MP-245/M showing mounting adapter plate and lock screws. ........ 13

Figure 2-2. Mounting the TRIO MP-245/M on the Adapter Plate ...................................................... 14

Figure 2-3. Rear of TRIO MP-245A ROE/Controller cabinet .............................................................. 15

Figure 2-4. Configuration switches on rear-panel (switch positions shown are factory defaults). .. 16

Figure 2-5. Internal configuration switches (switch positions shown are factory defaults). ........... 17

Figure 3-1. LCD Display showing startup screen. ................................................................................ 19

Figure 3-2. Startup screen ....................................................................................................................... 19

Figure 3-3. Factory default startup (Home) position ............................................................................ 20

Figure 3-4. Maximum positive values..................................................................................................... 20

Figure 3-5. Moving to Home position (screen is amber while moving) .............................................. 21

Figure 3-6. Factory default Home position ............................................................................................ 21

Figure 3-7. Example Home position defined and saved ....................................................................... 21

Figure 3-8. Example Work position ........................................................................................................ 21

Figure 3-9. Relative mode ........................................................................................................................ 22

Figure 3-10. Relative mode ...................................................................................................................... 22

Figure 3-11. Absolute mode ..................................................................................................................... 22

Figure 3-12. Angled side view of TRIO MP-245/M to change headstage mount ............................... 24

Figure 6-1. Locations of the axis connectors inside the ROE/Controller ........................................... 35

TABLE OF TABLES

Table 2-1. Rear-Panel Configuration Switches 1 - 4: Configuring the direction of each axis. ......... 16

Table 2-2. Rear-Panel Configuration Switch 5: Y-Axis Homing Movement Lock Out.................... 16

Table 2-3. Rear-Panel Configuration Switch 6: Configuring power-on positional memory or

calibration. ............................................................................................................................... 16

Table 2-4. Internal Configuration Switch 2: Electromechanical device compatibility. .................... 17

Table 3-1. Maximum positive position value of each axis .................................................................... 20

Table 3-2. Screen colors and modes ........................................................................................................ 23

Table 4-1. USB-VCP interface serial port settings. .............................................................................. 25

Table 4-2. Microns/microsteps conversion. ............................................................................................ 27

Table 4-3. Ranges and bounds ................................................................................................................. 27

Table 4-4. Get Current Position and Angle (‘c’ or ‘C’) command. ...................................................... 28

Table 4-5. Move to controller-defined HOME position (‘h’) command. ............................................. 28

Table 4-6. Move to controller -defined WORK position (‘w’) command. ............................................ 28

Table 4-7. Move to specified “Home” position (‘H’) command. .......................................................... 29

Table 4-8. Move to specified “Work” position (‘W’) command. ........................................................... 29

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Table 4-9. Straight-line move to specified position (‘S’) command. .................................................... 29

Table 4-10. Straight-Line Move ‘S’ Command Speeds. ........................................................................ 30

Table 4-11. Interrupt a straight-line move in progress (‘^C’) command. ......................................... 30

Table 4-12. Move to specified X-axis position (‘x’ or ‘X’) command. ................................................... 31

Table 4-13. Move to specified Y-axis position (‘y’ or ‘Y’) command. ................................................... 31

Table 4-14. Move to specified Z-axis position (‘z’ or ‘Z’) command. .................................................... 31

Table 4-15. Set the angle (‘A’) command. .............................................................................................. 32

Table 4-16. Recalibrate (‘R’) command. ................................................................................................. 32

Table 4-16. Straight-Line Move ‘S’ Command Speeds. ........................................................................ 34

Table C-1. TRIO MP-245A cables and receptacles/connectors. ........................................................... 39

Table D-1. Configuration Switches (External) 1 – 6. ............................................................................ 41

Table D-2. Configuration Switches (Internal) 1 - 4 .............................................................................. 41

Table D-3. USB-VCP interface serial port settings............................................................................... 42

Table D-4. Microns/microsteps conversion. ........................................................................................... 43

Table D-5. Ranges and bounds. ............................................................................................................... 43

Table D-6. TRIO MP-245A external control commands. ..................................................................... 43

Table D-7. Straight-Line Move ‘S’ Command Speeds. ......................................................................... 46

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TRIO MP-245/M
TRIO MP-245/E

1. INTRODUCTION

1.1 Structure of the TRIO MP-245A Documentation Package

The TRIO MP-245A 3-Axis Micromanipulator System is comprised of a ROE/controller, a
power adapter, and a TRIO MP-245/M stepper-motor-based electromechanical
micromanipulator. This manual consists of four parts: This chapter, Introduction, which
provides an overview and general description of the TRIO MP-245A system; Chapter 2,
Installation, which describes how to install, set up, and configure all components of the
system; Chapter 3, Operations, which describes how to operate the TRIO MP-245A; Chapter
4, Maintenance, describes how to perform routine and other maintenance; and Chapter 5,
Reconfiguration, describes the reconfiguration possibilities of the TRIO MP-245A system.

ELECTROMECHANICAL
MICROMANIPULATOR

ROE/CONTROLLER

Figure 1-1. The TRIO MP-245A system

1.2 Components of the TRIO MP-245A System

Carefully remove all components from the shipping container. In addition to this manual, the
following should be included:

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 TRIO MP-245A ROE Rotary Optical Encoder input device with built-in controller and

external power adapter.

 TRIO MP-245/M electromechanical micromanipulator
 26-pin HD DSUB cable (connects the ROE/controller to the TRIO MP-245/M

electromechanical micromanipulator).

 Power adapter
 Power adapter AC mains cable appropriate for your location
 Ground/Earth cable
 USB Cable

IMPORTANT

Once the TRIO MP-245A system has been unpacked, remove the shipping tape from the
various locations on the TRIO MP-245/M electromechanical micromanipulator. The shipping
tape must be removed before operating the TRIO MP-245A system. If you need to transport
the TRIO MP-245/M in the future, reapply 2 to 3-inch pieces of masking tape to the same
locations. Once the tape has been removed, handle the TRIO MP-245/M with care. The
mechanisms can be damaged if any of the axes are inadvertently moved without the tape in
place.

1.3 Overview

1.3.1 Features

 Three independent axes (X, Y, and Z) each with 25mm travel with a virtual fourth axis

(D) for coaxial pipette movement utilizing a tangent function factoring the holder’s angle
and the X and Z axes.

 Sub-micron 100nm resolution
 Digital display indicates coordinates in relative or absolute
 User-friendly, fanless compact controller with ROE preserves bench space
 Push button control of multiple functions – work, home, Lock, pulse and relative
 Robotic home- and work-position moves for easy automated pipette exchange

1.3.2 Description

The TRIO MP-245A, the newest Sutter Instrument motorized manipulator, is easy to use and
has three independent axes. The X, Y, and Z axes provide 25mm range of motion. D-axis
movement is accomplished virtually using a tangent function of the chosen angle of the
holder and simultaneously moving X and Z. The ROE controller has a digital display and
keys for Home, Work, Pulse, Lock, and Relative. The compact, intuitive controller takes up
minimal bench space, is fan-free, and easy to use.

While the axes provide X and Y orthogonal motion typical of most motorized manipulators,
Sutter has introduced a diagonal axis with the
coaxially at the exact desired angle of approach.

TRIO MP-245A so one can move the electrode

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The TRIO MP-245A’s ROE provides fine control of electrode position and the rate of rotation
of ROE dials for each axis determines the speed of travel. The finest step size is less than
100nm. Five conveniently located buttons on the ROE provide control of all the basic
functions you will need in normal operation (Work, Home, Lock, Relative, and Pulse).

Press and hold WORK (for 3 seconds) to quickly store a work position, tap HOME to move all
axes to an initial location that is useful for changing electrodes, or press and hold the HOME
button (for 3 seconds) to memorize a new HOME position.

When ready to record data, the motor drive electronics can be suppressed by pressing the
LOCK button. In the LOCK mode, the display turns red and ROE input is locked out to avoid
any accidental motion.

Pressing and holding the RELATIVE button for three seconds at any location causes the
display coordinates to all zeroes. When activating relative mode, the display turns blue.

To return to viewing the absolute coordinates, tap the RELATIVE button to toggle back.
Finall y, tapping the PULSE button causes a 3μm advance in the diagonal. This rapid burst of
forward motion can assist in sharp electrode cell penetration.

All the electronics, except for a small power supply, are housed within the TRIO MP-245A
ROE and no separate controller or computer is required.

External computer control of the TRIO MP-245A is possible via the USB connector mounted
on the controller/ROE’s rear panel. The controller’s internal software is programmed with a
defined set of commands allowing for a wide range of micromanipulator/stage movements as
programmed in software residing in an external computer connected via USB.

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Locking Screws

Locking Screws

2. INSTALLATION

When installing the TRIO MP-245A system for the first time, it is recommended that the
components of the system be installed in the following order: TRIO MP-245/M
electromechanical micromanipulator first, followed by the TRIO MP-245A/E ROE/Controller.

2.1 Mounting Instructions

The following sections describe how to mount the TRIO MP-245/M manipulator to a stand
using the mounting adapter plate, how to adjust the pipette angle and how to mount
different headstages.

2.1.1 Mounting the TRIO MP-245/M to the Stand or Platform

The TRIO MP-245/M attaches to the mounting adapter plate using four M3.5x6 hex head
locking screws.

Figure 2-1. Side view of TRIO MP-245/M showing mounting adapter plate and lock screws.

The TRIO MP-245/M is shipped with the adapter plate in place. It is attached using four
tapered pegs, along with four locking screws.

To remove it, first loosen the four hex screws that secure the manipulator to the pegs in the
adapter plate. The rear pair is in a similar location in the back of the manipulator. Once the

locking screws are sufficiently loosened, lift the TRIO MP-245/M upwards from the adapter
plate.

Before attaching the adapter plate to the TRIO MP-245/M, you need to decide where to
position the manipulator on your stand/platform. The stand can be any flat surface carrying
¼-20, 10-32, or M6 holes on one-inch centers (such as a Sutter Instrument MT-series stand
or MD series platform).

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Examine the space of the platform onto which installation is to take place. Attach the control
cable to TRIO MP-245/M and move the entire unit around on the platform until the precise
desired position is determined. A small bag containing the necessary hardware to attach the
TRIO MP-245/M to the stand is included.

Figure 2-2. Mounting the TRIO MP-245/M on the Adapter Plate

Once the plate is mounted, align the pegs on top of the plate with the holes in the
manipulator, push the X-axis firmly onto the plate, and re-tighten the locking hex set
screws.

2.2 Headstage Mounting

Sutter IPA headstage, Axon headstages 203B or CV-7, and the Heka EPC-10 headstage have
an integral dovetail that fits directly into the rotary dovetail slide bracket on the TRIO MP­245/M. The dovetail slide bracket on the TRIO MP-245/M also supports older Axon and Heka
headstages when using the 4’’ dovetail extension.

Rod-mounted headstages and micro tools are accommodated using a rod clamp that fits into
the dovetail (not shown). All the headstage adapters and mounting hardware are included
with the manipulator and are shipped in a zip lock plastic bag.

2.3 Other Accessories

One or more accessories may have been ordered and received for mounting the TRIO MP­245/M and/or modifying the headstage mount to the manipulator (i.e., rotating base,
microscope stage mount, gantry, dovetail extension, etc.). Setup of these accessories is
normally covered in documentation accompanying the accessory.

2.4 Electrical Connections and Initial Operating Instructions

Initially, you may want to simply connect the TRIO MP-245/M micromanipulator and the
ROE/Controller together and try some gross movements in order to get a feel for the controls
and how to make simple movements. It is perfectly acceptable to set the manipulators in the
middle of a bench top, make all electrical connections and then observe each unit’s
movement by eye.

CAUTION: Unless the TRIO MP-245/M micromanipulator electromechanical baseplate
is firmly bolted down to a breadboard or solidly to a firm surface, the TRIO MP-245/M is
likely to tip over when fully extending all of its axes, especially if it is loaded with a headstage
that extends beyond the TRIO MP-245/M’s current center of gravity.

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